/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/**
 * @file
 * Modified function input and used only some functions
 **/

#pragma once
#include "reference_line.h"
#include "path_points.h"
#include "FrenetPath.h"
#include "planning_context.h"

class WaypointSampler
{
public:
  WaypointSampler()
  {
  }
  ~WaypointSampler() = default;

  virtual void Init(const VehicleConfig &vehicle_config, const ReferenceLine *reference_line,
                    const SLPoint &init_sl_point, const FrenetFramePoint &init_frenet_frame_point);

  virtual bool SamplePathWaypoints(const TrajectoryPoint &init_point, std::vector<std::vector<SLPoint>> *const points);

protected:
  const ReferenceLine *reference_line_ = nullptr;
  VehicleConfig vehicle_config_;
  SLPoint init_sl_point_;
  FrenetFramePoint init_frenet_frame_point_;
};